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Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition

Anistratov, Pavel ; Olofsson, Björn LU and Nielsen, Lars (2019) 9th IFAC Symposium on Advances in Automotive Control, AAC 2019 In IFAC-PapersOnLine 52(5). p.78-84
Abstract

A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel computation. The method is formalized as a computational algorithm and evaluated in a safety critical double lane-change situation. The resulting maneuver has close-to-optimal behavior and, for certain initialization strategies, it is obtained in shorter computational time compared to computing the full maneuver in one step.

Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
autonomous vehicles, duality-based decomposition, intelligent transportation systems, motion control, path planning, safety, trajectory
in
IFAC-PapersOnLine
volume
52
issue
5
pages
7 pages
publisher
IFAC Secretariat
conference name
9th IFAC Symposium on Advances in Automotive Control, AAC 2019
conference location
Orléans, France
conference dates
2019-06-23 - 2019-06-27
external identifiers
  • scopus:85076120580
ISSN
2405-8963
DOI
10.1016/j.ifacol.2019.09.013
project
RobotLab LTH
language
English
LU publication?
yes
id
6f4d7580-b1aa-4520-bb89-532dd10d9578
date added to LUP
2020-01-02 14:02:00
date last changed
2023-04-24 22:00:12
@article{6f4d7580-b1aa-4520-bb89-532dd10d9578,
  abstract     = {{<p>A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel computation. The method is formalized as a computational algorithm and evaluated in a safety critical double lane-change situation. The resulting maneuver has close-to-optimal behavior and, for certain initialization strategies, it is obtained in shorter computational time compared to computing the full maneuver in one step.</p>}},
  author       = {{Anistratov, Pavel and Olofsson, Björn and Nielsen, Lars}},
  issn         = {{2405-8963}},
  keywords     = {{autonomous vehicles; duality-based decomposition; intelligent transportation systems; motion control; path planning; safety; trajectory}},
  language     = {{eng}},
  month        = {{09}},
  number       = {{5}},
  pages        = {{78--84}},
  publisher    = {{IFAC Secretariat}},
  series       = {{IFAC-PapersOnLine}},
  title        = {{Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition}},
  url          = {{http://dx.doi.org/10.1016/j.ifacol.2019.09.013}},
  doi          = {{10.1016/j.ifacol.2019.09.013}},
  volume       = {{52}},
  year         = {{2019}},
}